Mitsubishi Electric MELSEC Q Series User Manual page 161

(2) Two-phase trapezoidal positioning control program
This program executes two-phase trapezoidal positioning control in the absolute system. Suppose that the
parameter setting and OPR were completed. (
(a) Program detail
• As X27 is turned on, the following positioning data are written.
Positioning pattern
Da.1
Positioning address P1
Da.2
Positioning speed V1
Da.3
Positioning address P2
Da.4
Positioning speed V2
Da.5
• As X28 is turned on, the module executes two-phase trapezoidal positioning control in the absolute
system.
(b) Execution condition
The execution condition is the same as that of positioning control program. (
(b))
(c) Device used by the user
Device
X27
X28
D31
D32
D33
D34
D35
D36
D37
D38
D39
M15
M45
M230
M231
Page 149, Section 7.4.1, Page 151, Section 7.4.2)
Item
Positioning data write command
Two-phase trapezoidal positioning control start command
Positioning pattern
Positioning address P1 (lower 16 bits)
Positioning address P1 (upper 16 bits)
Positioning speed V1 (lower 16 bits)
Positioning speed V1 (upper 16 bits)
Positioning address P2 (lower 16 bits)
Positioning address P2 (upper 16 bits)
Positioning speed V2 (lower 16 bits)
Positioning speed V2 (upper 16 bits)
Positioning data writing
Two-phase trapezoidal positioning control start command pulse
Z(P).REMTO instruction completion
Z(P).REMTO instruction failure
CHAPTER 7 PROGRAMMING
Setting detail
1: Two-phase trapezoidal positioning control
100000pulse
10000pulse/s
150000pulse
12000pulse/s
Page 157, Section 7.4.3 (1)
Description
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